Interaction Control of a Redundant Mobile Manipulator

Abstract

This paper discusses the modeling and control of a spatial mobile manipulator that consists of a robotic manipulator mounted on a wheeled mobile platform. The Lagrange-d'Alembert formulation is used to obtain a concise description of the dynamics of the system, which is subject to nonholonomic constraints. The complexity of the model is increased by introducing kinematic redundancy, which is created when a multilinked manipulator is used. The kinematic redundancy is resolved by decomposing the mobile manipulator into two subsystems: the mobile platform and the manipulator. The re dundancy resolution scheme employs a nonlinear interaction-control algorithm, which is developed and applied to coordinate the two sub systems' controllers. The subsystem controllers are independently designed, based on each subsystem's dynamic characteristics. Sim ulation results show the promise of the developed algorithm.